Comparison of Local Path Planning algorithms

Version 1.0.1 (4.48 KB) by Rafal Szczepanski
Comparison of Artificial Potential Field (APF) algorithm, Vortex APF algorithm, Safe APF algorithm, and Dynamic Windows Approach.
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Updated 17 May 2023

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Comparison of the following local path planning algorithms:
  • Artificial Potential Field algorithm [1]
  • Vortex Artificial Potential Field algorithm [2],
  • Safe Artificial Potential Field algorithm (paper under review),
  • Dynamic Window Approach [3].
The environment with obstacles is randomly generated.
[1] O. Khatib, “Real-time obstacle avoidance for manipulators and mobile robots,” in Proceedings. 1985 IEEE International Conference on Robotics and Automation, vol. 2. IEEE, 1985, pp. 500–505
[2] X. Yun and K.-C. Tan, “A wall-following method for escaping local minima in potential field based motion planning,” in 1997 8th International Conference on Advanced Robotics. Proceedings. ICAR’97. IEEE, 1997, pp. 421–426
[3]D. Fox, W. Burgard, and S. Thrun, “The dynamic window approach to collision avoidance,” IEEE Robotics & Automation Magazine, vol. 4, no. 1, pp. 23–33, 1997.

Cite As

Rafal Szczepanski (2024). Comparison of Local Path Planning algorithms (https://www.mathworks.com/matlabcentral/fileexchange/129474-comparison-of-local-path-planning-algorithms), MATLAB Central File Exchange. Retrieved .

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Version Published Release Notes
1.0.1

Correction for orientation calculation.
1.0.0